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set accel and mag neutrals to zero and warn about it if not all neutrals are defined in the airframe file

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Felix Ruess
2011-10-31 18:40:14 +01:00
parent 955379d7f0
commit 130d5562cb
1 changed files with 14 additions and 3 deletions
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sw/airborne/subsystems/imu.c
+14 -3
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@@ -29,15 +29,26 @@ void imu_init(void) {
/* initialises neutrals */
RATES_ASSIGN(imu.gyro_neutral, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL);
VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
//FIXME should not assume that every imu has a mag and this id defined?
#if defined IMU_ACCEL_X_NEUTRAL && defined IMU_ACCEL_Y_NEUTRAL && defined IMU_ACCEL_Z_NEUTRAL
INT_VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
#else
#warning Accelerometer neutrals are set to zero.
INT_VECT3_ZERO(imu.accel_neutral);
#endif
#if defined IMU_MAG_X_NEUTRAL && defined IMU_MAG_Y_NEUTRAL && defined IMU_MAG_Z_NEUTRAL
VECT3_ASSIGN(imu.mag_neutral, IMU_MAG_X_NEUTRAL, IMU_MAG_Y_NEUTRAL, IMU_MAG_Z_NEUTRAL);
#else
#warning Magnetomter neutrals are set to zero.
INT_VECT3_ZERO(imu.mag_neutral);
#endif
/*
Compute quaternion and rotation matrix
for conversions between body and imu frame
*/
#if defined IMU_BODY_TO_IMU_PHI && defined IMU_BODY_TO_IMU_THETA & defined IMU_BODY_TO_IMU_PSI
#if defined IMU_BODY_TO_IMU_PHI && defined IMU_BODY_TO_IMU_THETA & defined IMU_BODY_TO_IMU_PSI
struct Int32Eulers body_to_imu_eulers =
{ ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PHI),
ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_THETA),